Path for a robot partially defined by a cubic B-spline. More...
#include <hpp/core/path-optimization/partial-spline-path.hh>
Public Types | |
typedef Path | parent_t |
Public Member Functions | |
virtual std::ostream & | print (std::ostream &os) const |
Print path in a stream. More... | |
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Configuration_t | operator() (const value_type &t) const throw () |
Configuration_t | operator() (const value_type &t, bool &success) const throw () |
bool | operator() (ConfigurationOut_t result, const value_type &t) const throw () |
size_type | outputSize () const |
Get size of configuration space. More... | |
size_type | outputDerivativeSize () const |
Get size of velocity. More... | |
const interval_t & | timeRange () const |
Get interval of definition. More... | |
value_type | length () const |
Get length of definition interval. More... | |
virtual Configuration_t | initial () const =0 |
Get the initial configuration. More... | |
virtual Configuration_t | end () const =0 |
Get the final configuration. More... | |
virtual | ~Path () throw () |
Destructor. More... | |
template<class T > | |
boost::shared_ptr< T > | as (void) |
Static cast into a derived type. More... | |
template<class T > | |
boost::shared_ptr< const T > | as (void) const |
Static cast into a derived type. More... | |
virtual PathPtr_t | extract (const interval_t &subInterval) const |
Extraction/Reversion of a sub-path. More... | |
virtual PathPtr_t | reverse () const |
Reversion of a path. More... | |
const ConstraintSetPtr_t & | constraints () const |
Get constraints the path is subject to. More... | |
void | constraints (const ConstraintSetPtr_t &constraints) |
Set constraints the path is subject to. More... | |
Protected Member Functions | |
PartialSplinePath (const DevicePtr_t &robot, const PathPtr_t &path, const JointVector_t &joints, const std::vector< value_type > &knots) | |
Constructor. More... | |
PartialSplinePath (const PartialSplinePathPtr_t &path) | |
Copy constructor. More... | |
void | init (PartialSplinePathPtr_t self) |
virtual void | impl_compute (ConfigurationOut_t result, value_type t) const |
Function evaluation. More... | |
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Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize) | |
Constructor. More... | |
Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints) | |
Constructor. More... | |
Path (const Path &path) | |
Copy constructor. More... | |
void | init (const PathPtr_t &self) |
Store weak pointer to itself. More... | |
Construction, destruction, copy | |
static PartialSplinePathPtr_t | create (const PathPtr_t &path, const JointVector_t &joints, const std::vector< value_type > &knots) |
Create instance and return shared pointer. More... | |
static PartialSplinePathPtr_t | create (const roboptim::trajectory::CubicBSpline &spline) |
Create instance from a CubicBSpline and return a shared pointer. More... | |
virtual PathPtr_t | copy () const |
Return a shared pointer to a copy of this. More... | |
virtual | ~PartialSplinePath () throw () |
Destructor. More... | |
Additional Inherited Members | |
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interval_t | timeRange_ |
Interval of definition. More... | |
Path for a robot partially defined by a cubic B-spline.
Some configuration variables specified at construction are defined by an internal cubic B-spline while the other configuration variables are defined by a path given at construction.
This enables users to perform numerical optimization on some joints only, keeping the trajectory of other joints constant.
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inlinevirtual |
Destructor.
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protected |
Constructor.
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protected |
Copy constructor.
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inlinevirtual |
Return a shared pointer to a copy of this.
Implements hpp::core::Path.
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inlinestatic |
Create instance and return shared pointer.
References init().
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inlinestatic |
Create instance from a CubicBSpline and return a shared pointer.
References init().
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protectedvirtual |
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inlineprotected |
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inlinevirtual |
Print path in a stream.
Implements hpp::core::Path.